Multirobot Tethering for Localization and Control

Brad Baillio, Vladimeros Vladimerou

Research output: Contribution to conferencePaper, not in proceedingpeer-review

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Abstract

We investigate the use of particle filter (PF) estimation techniques on a hovercraft vehicle in an office environment. Monte Carlo Localization (MCL) with particle filtering is a popular method for localizing robots with laser range finders. In maps featuring long, uniform corridors though, a PF can produce low confidence estimates. When used as feedback to control an unstable vehicle this can prove fatal. This is because, unlike grounded wheeled vehicles, an airborne hovercraft requires accurate localization
not only for path planning, but for stabilization as well. We solve the low confidence problem using a secondary networked robot as a mobile map feature.
Original languageEnglish
Publication statusPublished - 2009
EventFourth Swedish Workshop on Autonomous Robotics SWAR'09 - Västerås, Sweden
Duration: 2009 Sep 1 → …

Conference

ConferenceFourth Swedish Workshop on Autonomous Robotics SWAR'09
Country/TerritorySweden
CityVästerås
Period2009/09/01 → …

Subject classification (UKÄ)

  • Control Engineering

Keywords

  • localization
  • particle filter
  • hovercraft
  • networked autonomous vehicles
  • laser range finder

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